CN109572848A - Climbing robot - Google Patents
Climbing robot Download PDFInfo
- Publication number
- CN109572848A CN109572848A CN201910037271.7A CN201910037271A CN109572848A CN 109572848 A CN109572848 A CN 109572848A CN 201910037271 A CN201910037271 A CN 201910037271A CN 109572848 A CN109572848 A CN 109572848A
- Authority
- CN
- China
- Prior art keywords
- opening
- sealing
- slideway
- cavity
- guide rod
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000009194 climbing Effects 0.000 title claims abstract description 36
- 238000007789 sealing Methods 0.000 claims abstract description 83
- 239000003463 adsorbent Substances 0.000 claims abstract description 23
- 239000003795 chemical substances by application Substances 0.000 claims 1
- 238000010521 absorption reaction Methods 0.000 description 3
- 230000000903 blocking effect Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000001179 sorption measurement Methods 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 125000000623 heterocyclic group Chemical group 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a kind of climbing robot, comprising: robot body, robot body bottom are equipped with adsorbent equipment, and adsorbent equipment can be formed with cavity in adsorbent equipment with working face palette；Channel, it is arranged in robot body, it include slideway in channel, sealing device is slidably equipped in slideway, channel is equipped with the first opening and the second opening, first opening is equipped with blower, second opening is connected with cavity, second opening is equipped with sealing element, blower for making the intracorporal air of chamber flow to the first opening by the second opening in the on state, it separates sealing device mutually with sealing element and makes to be formed negative pressure in cavity, cavity is used under blower halted state be in contact by negative pressure band dynamic sealing dress with sealing element and cooperates the second opening of sealing；Running gear, setting is in robot body, for driving robot body to walk along working face.The safety that climbing robot uses can be improved in the present invention.
Description
Technical field
The present invention relates to walking arrangement technology more particularly to a kind of climbing robots.
Background technique
With the high speed development of modern society and science and technology, climbing robot is just increasingly used in various multiple
Heterocycle border.
Existing climbing robot includes robot body, running gear and vacuum absorption device, running gear and vacuum
Adsorbent equipment is arranged on robot body, and vacuum absorption device can adsorb working face, and traveling wheel is able to drive robot master
Body is walked on working face.
However, existing climbing robot when vacuum absorption device break down when, then climbing robot can lose for
The adsorption capacity of working face, thus can be by being fallen on working face, safety in utilization is poor.
Summary of the invention
The present invention provides a kind of climbing robot, to improve safety in utilization.
The present invention provides a kind of climbing robot, comprising:
Robot body, the robot body bottom are equipped with adsorbent equipment, and the adsorbent equipment can be close with working face
Sealing label closes, and is formed with cavity in the adsorbent equipment；
Channel is arranged in the robot body, includes slideway in the channel, and sealing dress is slidably equipped in the slideway
It sets, the channel is equipped with the first opening and the second opening, and first opening is equipped with blower, second opening and the chamber
Body is connected, and second opening is equipped with sealing element, and the blower for making the intracorporal air of the chamber in the on state
First opening is flowed to by second opening, so that the sealing device be driven to slide along the slideway forward direction, makes institute
It states sealing device mutually to separate with sealing element and make to be formed negative pressure in the cavity, the cavity is used in the blower halted state
Drive the sealing device along the slideway reverse slide by the negative pressure down, to make the sealing device and the sealing
Part is in contact and cooperates sealing second opening；
Running gear is arranged in the robot body, for driving the robot body to walk along the working face.
Based on above-mentioned, climbing robot provided by the invention, when in use, blower can be opened, under the action of blower
The intracorporal air of chamber can be made to flow to the first opening by the second opening, be able to drive sealing device under the mobilization of air
It is slided along slideway forward direction, separate sealing device mutually with sealing element and makes to form negative pressure in cavity, due to forming negative pressure in cavity
And adsorbent equipment and working face palette, therefore adsorbent equipment is enable to be adsorbed on working face, pass through running gear later
Robot body can be driven to walk along working face.If blower break down and when shutting down, air in channel no longer by
Second opening flows to the first opening, and negative pressure can then generate suction to sealing device in the cavity, thus with dynamic sealing device edge
Slideway reverse slide keeps sealing device mobile towards the second opening and sealing element and is in contact with sealing element and cooperates sealing second
Opening continues to keep negative pressure state at this time in cavity, so that adsorbent equipment be made to can continue to be adsorbed on work so that cavity be sealed
Make on face, prevents falling for climbing robot when shutting down thus, it is possible to break down in blower, improve wall-climbing device
The safety that people uses.
Detailed description of the invention
Fig. 1 is a kind of top view of climbing robot provided in an embodiment of the present invention；
Fig. 2 is a kind of bottom view of climbing robot provided in an embodiment of the present invention；
Fig. 3 is a kind of partial structural diagram of climbing robot provided in an embodiment of the present invention.
Appended drawing reference:
101: robot body；102: adsorbent equipment；103: cavity；
104: channel；105: slideway；106: sealing device；
107: the first openings；108: the second openings；109: blower；
110: sealing element；111: running gear；112: guide rod；
113: sealing-plug；114: third opening；115: sealing；
116: handle；117: through-hole.
Specific embodiment
To keep the purpose of the present invention, feature, advantage more obvious and understandable, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is only
It is only a part of the embodiment of the present invention, and not all embodiments.Based on the embodiments of the present invention, those skilled in the art are not having
Every other embodiment obtained under the premise of creative work is made, shall fall within the protection scope of the present invention.
Fig. 1-3 is please referred to, the embodiment of the present invention provides a kind of climbing robot, comprising: robot body 101, robot
101 bottom of main body is equipped with adsorbent equipment 102, and adsorbent equipment 102 can be with working face palette, and adsorbent equipment 102 is interior to be formed
There is cavity 103；Channel 104 is arranged in robot body 101, includes slideway 105 in channel 104, is slidably equipped in slideway 105
Sealing device 106, channel 104 be equipped with first opening 107 and second opening 108, first opening 107 at be equipped with blower 109, second
Opening 108 is connected with cavity 103, sealing element 110 is equipped at the second opening 108, blower 109 for making chamber in the on state
Air in body 103 flows to the first opening 107 by the second opening 108, thus positive along slideway 105 with dynamic sealing device 106
Sliding separates sealing device 106 with 110 phase of sealing element and makes to be formed negative pressure in cavity 103, and cavity 103 is used in blower 109
By negative pressure band dynamic sealing device 106 along 105 reverse slide of slideway under halted state, to make sealing device 106 and sealing element
110 are in contact and cooperate the second opening 108 of sealing；Running gear 111, setting is in robot body 101, for band mobile robot
Main body 101 is walked along working face.
Climbing robot in the present embodiment when in use can open blower 109, can under the action of blower 109
So that the air in cavity 103 is flowed to the first opening 107 by the second opening 108, is able to drive under the mobilization of air close
Seal apparatus 106 separates sealing device 106 with 110 phase of sealing element and makes to be formed in cavity 103 negative along the positive sliding of slideway 105
Pressure enables adsorbent equipment 102 to inhale due to formation negative pressure and adsorbent equipment 102 and working face palette in cavity 103
It is attached on working face, robot body 101 can be driven to walk along working face by running gear 111 later.If blower 109 goes out
When showing failure and shutdown occur, the air in channel 104 no longer flows to the first opening 107 by the second opening 108, and in cavity
Negative pressure then can generate suction to sealing device 106 in 103, to make close with dynamic sealing device 106 along 105 reverse slide of slideway
Seal apparatus 106 is mobile towards the second opening 108 and sealing element 110 and is in contact with sealing element 110 and cooperates the second opening of sealing
108, so that cavity 103 be sealed, continue to keep negative pressure state at this time in cavity 103, so that adsorbent equipment 102 be made to can continue to
It is adsorbed on working face, prevents falling for climbing robot when shutting down thus, it is possible to break down in blower 109, improve
The safety that climbing robot uses.
In the present embodiment, it is preferred that slideway 105 and the second 108 coaxial lines of opening, sealing device 106 include guide rod 112
It is connect with the first end of sealing-plug 113, guide rod 112 with sealing-plug 113, guide rod 112 is slidably arranged in slideway 105, wind
The air that machine 109 is used to make in the on state in cavity 103 flows to the first opening 107 by the second opening 108, to drive
Guide rod 112 separates sealing-plug 113 with 110 phase of sealing element and makes to form negative pressure in cavity 103 along the positive sliding of slideway 105,
Cavity 103 is used to drive guide rod 112 along 105 reverse slide of slideway by negative pressure under 109 halted state of blower, to make close
Blocking 113 is in contact with sealing element 110 and cooperates the second opening 108 of sealing.Matching by guide rod 112 and slideway 105 as a result,
It closes, sealing-plug 113 can be made to move along the axis direction of the second opening 108 towards the second opening 108, to make sealing device
106 can accurately be in contact with sealing-plug 113, the reliability that climbing robot uses.
In the present embodiment, it is preferred that sealing element 110 is seal pipe, and seal pipe is threaded through in channel 104 and in channel 104
Wall is tightly connected and is connected to the second opening 108, slideway 105 and seal pipe coaxial line；Sealing-plug 113 is centrum, the bottom of centrum
End is connect with guide rod 112, and towards 108 setting of the second opening, centrum tip can extend into and be held in seal pipe at centrum tip
Nozzle at, thus by second opening 108 sealing.Since centrum tip can extend into the nozzle of seal pipe, can with it is close
Tube sealing cooperation plays guiding role, so as to ensure that centrum can continue to move along seal pipe, finally with the nozzle of seal pipe
Clamping sealing, thus further improves the reliability that climbing robot uses.
In the present embodiment, it is preferred that the end of slideway 105 is equipped with third opening 114, third opening 114 and robot master
It is connected outside body 101, the second end of guide rod 112 is extend out to outside robot body 101 by third opening 114, slideway 105
Interior to be equipped with sealing 115, guide rod 112 is sealed and is slidably connected with sealing 115.As a result, when blower 109 breaks down
When now shutting down, sealing-plug 113 is in contact with sealing element 110 and cooperates the second opening 108 of sealing, so that cavity 103 is sealed, this
When cavity 103 in continue to keep negative pressure state, so that adsorbent equipment 102 be made to can continue to be adsorbed on working face, and when using
When person needs climbing robot by removing on working face, the second end of guide rod 112 can be pulled, thus make sealing-plug 113 with
110 phase of sealing element separation, so that cavity 103 be made to be connected with the first opening 107 and by the first opening 107 and external atmosphere pressure
It is connected, so that the negative pressure in cavity 103 is eliminated, at this point it is possible to easily by climbing robot by removing on working face.
In the present embodiment, it is preferred that the second end of guide rod 112 is equipped with handle 116.User can be convenient as a result,
It is exerted a force by handle 116 to guide rod 112.
In the present embodiment, it is preferred that the first opening 107 is provided in slideway 105.The state opened as a result, in blower 109
Under, the air in cavity 103 flows into slideway 105 by the second opening 108 and is flowed out by the first opening 107, is thus conducive to reinforce
Active force that air applies sealing device 106 and the time for extending the active force that air applies sealing device 106, thus really
Secrecy blocking 113 can be separated with 110 phase of sealing element, further improve the reliability that climbing robot uses.
In the present embodiment, it is preferred that sealing-plug 113 is equipped with through-hole 117, length direction of the through-hole 117 along guide rod 112
Extending, the air that blower 109 is used to make in the on state in cavity 103 flows to the first opening 107 by the second opening 108,
To drive guide rod 112 along the positive sliding of slideway 105, separates sealing-plug 113 with 110 phase of sealing element and make sealing-plug 113
Fit with the port of slideway 105, through-hole 117 be used in the state that the port of sealing-plug 113 and slideway 105 fits with cunning
Road 105 is connected.Since through-hole 117 can be with slideway 105 in the state that the port of sealing-plug 113 and slideway 105 fits
Be connected, therefore, sealing-plug 113 can be prevented by the port sealing of slideway 105, make the first opening 107 and the second opening 108 it
Between keep connected state, so that it is guaranteed that being capable of forming negative pressure in cavity 103.
In the present embodiment, it is preferred that slideway 105 is arranged along the short transverse of robot body 101, is conducive to reduce as a result,
Frictional force between sealing device 106 and slideway 105 slides sealing device 106 along slideway more smoothly.
In the present embodiment, it is preferred that adsorbent equipment 102 is the groove for being provided with 101 bottom of robot body, therefore without
The adsorption elements such as additional assembly sucker, improve the globality of climbing robot.
In the present embodiment, it is preferred that running gear 111 is crawler attachment.Make the walking of running gear 111 more steady as a result,
It is fixed reliable.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.Moreover, particular features, structures, materials, or characteristics described
It may be combined in any suitable manner in any one or more of the embodiments or examples.In addition, without conflicting with each other, this
The technical staff in field can be by the spy of different embodiments or examples described in this specification and different embodiments or examples
Sign is combined.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic." first " is defined as a result, the feature of " second " can be expressed or hidden
It include at least one this feature containing ground.In the description of the present invention, the meaning of " plurality " is two or more, unless otherwise
Clear specific restriction.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can easily think of the change or the replacement, and should all contain
Lid is within protection scope of the present invention.Therefore, protection scope of the present invention should be based on the protection scope of the described claims.
Claims (10)
1. a kind of climbing robot characterized by comprising
Robot body, the robot body bottom are equipped with adsorbent equipment, and the adsorbent equipment can be with working face sealing paste
It closes, is formed with cavity in the adsorbent equipment；
Channel is arranged in the robot body, includes slideway in the channel, is slidably equipped with sealing device in the slideway,
The channel is equipped with the first opening and the second opening, and first opening is equipped with blower, second opening and the cavity
It is connected, second opening is equipped with sealing element, and the blower for making the intracorporal air of the chamber logical in the on state
It crosses second opening and flows to first opening, so that the sealing device be driven to slide along the slideway forward direction, make described
Sealing device mutually separates with sealing element and makes to be formed negative pressure in the cavity, and the cavity is used under the blower halted state
Drive the sealing device along the slideway reverse slide by the negative pressure, to make the sealing device and the sealing element
It is in contact and cooperates sealing second opening；
Running gear is arranged in the robot body, for driving the robot body to walk along the working face.
2. climbing robot according to claim 1, which is characterized in that the slideway and the second opening coaxial line, it is described
Sealing device includes guide rod and sealing-plug, and the first end of the guide rod is connect with the sealing-plug, the guide rod sliding
It is arranged in the slideway, the blower for making the intracorporal air of the chamber pass through the second opening stream in the on state
Make the sealing-plug and sealing element phase point to first opening so that the guide rod be driven to slide along the slideway forward direction
From and make to form negative pressure in the cavity, the cavity be used under the blower halted state by the negative pressure drive described in
Guide rod is along the slideway reverse slide, to make the sealing-plug be in contact with the sealing element and cooperate sealing described second
Opening.
3. climbing robot according to claim 2, which is characterized in that the sealing element is seal pipe, the seal pipe
It is threaded through in the channel and is tightly connected with the vias inner walls and is total to second open communication, the slideway and seal pipe
Axis；
The sealing-plug is centrum, and the bottom end of the centrum connect with the guide rod, and the centrum tip is towards described second
Opening setting, the centrum tip can extend into and be held at the nozzle of the seal pipe, so that second opening is close
Envelope.
4. climbing robot according to claim 2, which is characterized in that the end of the slideway is open equipped with third, institute
It states third to be open and be connected outside the robot body, the second end of the guide rod extend out to institute by third opening
It states outside robot body, is equipped with sealing in the slideway, the guide rod and the both seals and be slidably connected.
5. climbing robot according to claim 4, which is characterized in that the second end of the guide rod is equipped with handle.
6. climbing robot according to claim 2, which is characterized in that described first is provided in the slideway.
7. climbing robot according to claim 6, which is characterized in that the sealing-plug is equipped with through-hole, the through-hole
Length direction along the guide rod extends, and the blower is described in the on state passing through the intracorporal air of the chamber
Second opening flows to first opening, so that the guide rod be driven slide along the slideway forward direction, make the sealing-plug and
Sealing element mutually separates and makes the sealing-plug and the port of the slideway to fit, and the through-hole is used in the sealing-plug and institute
State slideway port fit in the state of be connected with the slideway.
8. climbing robot according to claim 1, which is characterized in that height of the slideway along the robot body
Direction setting.
9. climbing robot described in -8 according to claim 1, which is characterized in that the adsorbent equipment is to be provided with the machine
The groove of human agent bottom.
10. climbing robot described in -8 according to claim 1, which is characterized in that the running gear is crawler attachment.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910037271.7A CN109572848A (en) | 2019-01-15 | 2019-01-15 | Climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910037271.7A CN109572848A (en) | 2019-01-15 | 2019-01-15 | Climbing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109572848A true CN109572848A (en) | 2019-04-05 |
Family
ID=65915139
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910037271.7A Pending CN109572848A (en) | 2019-01-15 | 2019-01-15 | Climbing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109572848A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110142786A (en) * | 2019-06-25 | 2019-08-20 | 北京史河科技有限公司 | Cleaning plant and cleaning robot |
| CN110497978A (en) * | 2019-08-29 | 2019-11-26 | 南京禹智智能科技有限公司 | A kind of negative pressure self-adaptive regulating of negative-pressure type climbing robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH04166480A (en) * | 1990-10-30 | 1992-06-12 | Chubu Electric Power Co Inc | Wall sucking fit device |
| CN201849551U (en) * | 2010-10-29 | 2011-06-01 | 大连海事大学 | Negative pressure absorbing device for robot |
| EP2463065A1 (en) * | 2010-12-07 | 2012-06-13 | CAMA 1 SpA | Vacuum gripping head for an industrial robot |
| CN104071245A (en) * | 2014-05-15 | 2014-10-01 | 苏州工业园区职业技术学院 | Sucking disk for wall climbing robot |
| CN104930226A (en) * | 2014-03-17 | 2015-09-23 | 科沃斯机器人科技(苏州)有限公司 | Air escape valve for adsorption device and adsorption robot with air escape valve |
| WO2015145846A1 (en) * | 2014-03-26 | 2015-10-01 | シャープ株式会社 | Adsorption mechanism and travel device |
| CN206218047U (en) * | 2016-08-30 | 2017-06-06 | 湖南千智机器人科技发展有限公司 | A kind of negative pressure self-adaptive regulating of negative-pressure type climbing robot |
| JP2018184036A (en) * | 2017-04-24 | 2018-11-22 | パナソニック株式会社 | Wall surface adsorptive traveling device |
| CN209395928U (en) * | 2019-01-15 | 2019-09-17 | 北京史河科技有限公司 | Climbing robot |
-
2019
- 2019-01-15 CN CN201910037271.7A patent/CN109572848A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH04166480A (en) * | 1990-10-30 | 1992-06-12 | Chubu Electric Power Co Inc | Wall sucking fit device |
| CN201849551U (en) * | 2010-10-29 | 2011-06-01 | 大连海事大学 | Negative pressure absorbing device for robot |
| EP2463065A1 (en) * | 2010-12-07 | 2012-06-13 | CAMA 1 SpA | Vacuum gripping head for an industrial robot |
| CN104930226A (en) * | 2014-03-17 | 2015-09-23 | 科沃斯机器人科技(苏州)有限公司 | Air escape valve for adsorption device and adsorption robot with air escape valve |
| WO2015145846A1 (en) * | 2014-03-26 | 2015-10-01 | シャープ株式会社 | Adsorption mechanism and travel device |
| CN104071245A (en) * | 2014-05-15 | 2014-10-01 | 苏州工业园区职业技术学院 | Sucking disk for wall climbing robot |
| CN206218047U (en) * | 2016-08-30 | 2017-06-06 | 湖南千智机器人科技发展有限公司 | A kind of negative pressure self-adaptive regulating of negative-pressure type climbing robot |
| JP2018184036A (en) * | 2017-04-24 | 2018-11-22 | パナソニック株式会社 | Wall surface adsorptive traveling device |
| CN209395928U (en) * | 2019-01-15 | 2019-09-17 | 北京史河科技有限公司 | Climbing robot |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110142786A (en) * | 2019-06-25 | 2019-08-20 | 北京史河科技有限公司 | Cleaning plant and cleaning robot |
| CN110497978A (en) * | 2019-08-29 | 2019-11-26 | 南京禹智智能科技有限公司 | A kind of negative pressure self-adaptive regulating of negative-pressure type climbing robot |
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